永磁同步电动机的平滑跟踪伺服控制及实现

Smooth-trajectory servo control and implementation for permanent-magnet synchronous motor

中文关键词  平滑轨迹跟踪滤波器  离散系统  伺服控制  实现

英文关键词  smooth trajectory filter  discrete system  servo control  implement

中文摘要

      针对永磁同步电动机位置伺服控制的最小时间响应和平滑轨迹跟踪问题,提出一种改进的二阶离散非线性平滑轨迹跟踪滤波器,该滤波器的输出适合于伺服系统的前馈控制.结合永磁同步电动机的(d,q)数学模型,采用线性控制实现电流闭环使机电运动系统等效为典型的二阶系统,利用非线性平滑轨迹跟踪滤波器为电流环提供前馈输入,并设计一个降阶的扰动观测器保证了系统具有较强的鲁棒性.利用DSP(TMS320LF2407A)实现算法并与传统的PID算法进行了比较,通过仿真和实验结果证明了所提方法的正确性和有效性.

英文摘要

      For the minimum time response and smooth trajectory tracking in position-servo control of permanent-magnet synchronous motor,an improved second-order discrete nonlinear smooth trajectory filter,of which outputs are applied to feedforward control,is introduced.Electromechanical motion system can be equivalent to second-order system under linear closed-loop-current control in view of the (d,q) mathematical model for permanent-magnet synchronous motor,so that nonlinear smooth trajectory filter can generate predictive signals for current-loop with a reduced-order disturbance observer designed to guarantee robustness of the system.Finally,the proposed control scheme is implemented by using a digital signal processor(TMS320LF2407A) and the effectiveness is verified through the experiments and simulations with proportional-integral-differential(PID) control.